Rev 273 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 273 | Rev 459 | ||
|---|---|---|---|
| Line 64... | Line 64... | ||
| 64 | { |
64 | { |
| 65 | signal -= 466; |
65 | signal -= 466; |
| 66 | // Stabiles Signal |
66 | // Stabiles Signal |
| 67 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
67 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| 68 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
68 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| - | 69 | ||
| - | 70 | //############################################################ |
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| - | 71 | // Verhindert einen Restwert der RC-Kanäl bei neutralen Knüppelstellungen, führt |
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| - | 72 | // unter Umständen jedoch zu +/-1 Sprüngen der einzelnen Kanäle. Siehe auch: |
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| - | 73 | // http://forum.mikrokopter.de/topic-2191.html(121107Kr) |
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| 69 | // if(tmp > signal+1) tmp--; else |
74 | if(tmp > signal+1) tmp--; else |
| 70 | // if(tmp < signal-1) tmp++; |
75 | if(tmp < signal-1) tmp++; |
| - | 76 | //############################################################ |
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| - | 77 | ||
| 71 | PPM_diff[index] = tmp - PPM_in[index]; |
78 | PPM_diff[index] = tmp - PPM_in[index]; |
| 72 | PPM_in[index] = tmp; |
79 | PPM_in[index] = tmp; |
| 73 | } |
80 | } |
| 74 | index++; |
81 | index++; |
| 75 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
82 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| 76 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
83 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |